Hydraulic drive digging depth intelligent regulation and control system and method of peanut harvester

Abstract

The invention discloses a hydraulic drive digging depth intelligent regulation and control system and method for a peanut harvester. The harvester comprises a tractor, a rack, a seedling pressing roller, a digging shovel, a conveying and lifting mechanism and a seedling turning and laying mechanism. And a lifting adjusting oil cylinder is arranged between the tractor and the rack. The conveying and lifting mechanism comprises a chain rod assembly, a driving wheel assembly, a driven wheel assembly and a vibrating wheel mechanism. The detection assemblies are arranged at the two ends of the seedling pressing roller and comprise elastic connecting mechanisms and linear potentiometers. The conveying lifting mechanism is provided with a high weight detection mechanism and a low weight detection mechanism. Each weight detection mechanism comprises a chain wheel, a middle shaft and a pressure sensor. The linear potentiometer and the pressure sensor are connected with a controller, and the controller controls the lifting adjusting oil cylinder to stretch out and draw back through a proportional electromagnetic valve. The weight detection mechanism estimates the weight of peanut crops through chain pressure and calculates the soil removal rate, the elastic connection mechanism is combined with the ground profiling and linear potentiometer reflects the digging depth, the controller adjusts the depth and the dip angle of the digging shovel accordingly, digging missing, fruit damage and overlarge resistance are avoided, and intelligent regulation and control are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control of peanut harvesters, and in particular to a liquid-driven digging depth intelligent control system and method for peanut harvesters. Background Art

[0002] Prior art peanut harvesters, such as those disclosed in application publication number CN117413673A, include components such as a seedling pressing roller, a digging shovel, a conveying and lifting mechanism, and a seedling turning and laying mechanism. These utilize hydraulic or mechanical drive to achieve crop digging, conveying, and laying operations, thereby improving harvesting efficiency. However, existing harvesters still have shortcomings in controlling digging depth and adapting to complex terrain. Digging too shallowly can result in missed harvests or damaged fruit, while digging too deep increases resistance and wastes fuel. Furthermore, the synchronization of the conveying and turning processes, as well as crop posture control, also affect overall operational quality.

[0003] In addition, the transmission system design of the harvester of CN117413673A is relatively simple and lacks a dynamic adjustment mechanism for changes in crop density, which leads to blockage when the crop density is too high, or idling and energy waste when the density is too low.

[0004] Patent application publication number CN113057007A discloses an adjustment device for a ridge-cultivated potato harvester and a method for controlling its digging depth. This device collects data from height and width displacement sensors and uses a mathematical model to calculate angle changes to adjust the digging depth, achieving automatic control of potato crops. However, this method uses a movable frame to adjust the digging depth based on preset digging depth and ridge height data. This method is not applicable to different peanut varieties and requires relying on experience to set a target digging depth, which cannot be changed based on actual conditions. Summary of the Invention

[0005] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a liquid-driven intelligent digging depth control system and method for a peanut harvester that can intelligently control the digging depth based on real-time data.

[0006] Technical Solution: To achieve the above-mentioned objectives, the present invention provides a hydraulically driven intelligent digging depth control system for a peanut harvester, comprising a tractor, a frame, and a rice seedling pressing roller, a digging shovel, a conveying and lifting mechanism, and a rice seedling turning and laying mechanism arranged from front to back on the frame; a lifting and lowering adjustment cylinder is connected between the tractor and the frame; the conveying and lifting mechanism comprises an inclined chain rod assembly, a driving wheel assembly and a driven wheel assembly disposed at the upper and lower ends of the chain rod assembly, and a vibrating wheel mechanism disposed within the chain rod assembly; the chain rod assembly comprises two sets of chains arranged in parallel on the left and right sides, and a rod member mounted between the two sets of chains;

[0007] The hydraulic driven excavation depth intelligent control system includes two sets of detection components connected to the two ends of the rice pressing roller; each set of the detection components includes an elastic connection mechanism for establishing an elastic movable relationship between the end of the rice pressing roller and the frame, and also includes a linear potentiometer for obtaining distance data between the end of the rice pressing roller and the frame;

[0008] The conveying and lifting mechanism also includes two sets of weight detection mechanisms, high and low; each set of weight detection mechanisms includes sprockets engaged with the left and right sets of chains, a central shaft connected to the sprockets, and a pressure sensor connected to the central shaft of the central shaft;

[0009] The linear potentiometer and the pressure sensor are connected to a controller, and the controller can control the extension and retraction of the lifting and lowering regulating cylinder through a proportional solenoid valve.

[0010] Furthermore, the elastic connection mechanism includes a connecting rod that can slide relative to the frame, and a spring is strung on the connecting rod to apply downward pressure to the end of the rice seedling pressing roller; the end of the rice seedling pressing roller is connected to the connecting rod through a bearing seat.

[0011] Furthermore, the lifting and lowering regulating cylinder is connected to the multi-way valve of the tractor through the proportional solenoid valve.

[0012] Furthermore, the driving wheel assembly and the rice-turning and spreading mechanism are driven by a first hydraulic motor and a second hydraulic motor, respectively. The controller controls the hydraulic oil flow to the first and second hydraulic motors via a first solenoid valve and a second solenoid valve, respectively. Furthermore, to facilitate the controller in obtaining the rotational speeds of the first and second hydraulic motors, speed measuring mechanisms are provided for each.

[0013] The method for intelligently controlling the hydraulically driven digging depth of the peanut harvester based on the hydraulically driven digging depth intelligent control system includes:

[0014] Calculating excavation depth data based on data collected by the linear potentiometer and the extension and contraction amount of the lifting and adjusting cylinder;

[0015] Calculating a real-time soil removal rate for the peanut crop based on the data collected by the two sets of weight detection mechanisms;

[0016] Based on the real-time soil removal rate and the benchmark soil removal rate, determining whether the excavation depth data meets the requirements;

[0017] When the digging depth does not meet the requirement, the lifting and adjusting cylinder is controlled to extend and retract to adjust the digging depth of the digging shovel.

[0018] Specifically, the soil removal rate is estimated as follows: First weight data T1, collected by the low-position weight detection mechanism at time t, is calculated by taking the average of the data from the left and right pressure sensors corresponding to the low-position weight detection mechanism. Second weight data T2, collected by the high-position weight detection mechanism at time t+‌Δt, is calculated by taking the average of the data from the left and right pressure sensors corresponding to the high-position weight detection mechanism. The value of Δt is determined based on the chain conveyor line speed. The soil removal rate is calculated using the following formula: (T1-T2) / T1×100%.

[0019] The benchmark soil removal rate is derived from experiments. Peanut plants, laden with a moderate amount of soil, are placed on a chain assembly. After the soil is shaken and sieved, the baseline soil removal rate is calculated based on weight data collected by weight detection mechanisms at high and low locations. In practice, multiple sets of experiments can be conducted to obtain multiple soil removal rate data sets, and the average value can be used to determine the baseline soil removal rate.

[0020] Furthermore, judging whether the excavation depth data meets the requirements based on the real-time soil removal rate and the benchmark soil removal rate includes:

[0021] A reasonable soil removal rate range is obtained based on the benchmark soil removal rate, and it is determined whether the real-time soil removal rate is within the reasonable soil removal rate range. If so, it indicates that the excavation depth meets the requirement; otherwise, it indicates that the excavation depth does not meet the requirement.

[0022] Furthermore, the control of the lifting and adjusting cylinder to adjust the digging depth of the digging shovel includes:

[0023] When the real-time soil removal rate is greater than the maximum value of the reasonable soil removal rate range, it indicates that the excavation depth is too deep and excessive soil has been excavated, and the telescopic rod of the lifting and adjusting oil cylinder is controlled to extend outward;

[0024] When the real-time soil removal rate is less than the minimum value of the reasonable soil removal rate range, it indicates that the excavation depth is too shallow, which may damage the crop roots and cause the peanuts to remain in the soil. The telescopic rod of the lifting and adjusting cylinder is controlled to retract inward.

[0025] Furthermore, based on the forward speed of the tractor, the conveying speed of the chain rod assembly and the laying speed of the rice-turning and laying mechanism are adjusted. Specifically, the rotational speeds of the first hydraulic motor and the second hydraulic motor are adjusted by the first solenoid valve and the second solenoid valve, respectively, to achieve adjustment of the conveying speed of the chain rod assembly and the laying speed of the rice-turning and laying mechanism. Specifically, the adjustment can be performed according to a preset speed ratio. Preferably, the first speed ratio between the conveying speed and the forward speed of the chain rod assembly ranges from 0.8 to 1.2, and the second speed ratio between the laying speed of the rice-turning and laying mechanism and the conveying speed of the chain rod assembly ranges from 0.5 to 0.7.

[0026] Beneficial effects: The hydraulic drive digging depth intelligent control system and method of the peanut harvester of the present invention has the following beneficial effects:

[0027] (1) In the present invention, the weight detection mechanism can estimate the weight of the peanut crop before and after soil removal based on the pressure applied by the chain, and calculate the soil removal rate accordingly. The elastic connection mechanism composed of the connecting rod and the spring can perform contour movement on the ground. The expansion and contraction amount of the linear potentiometer can reflect the digging depth of the digging shovel. The controller can determine the appropriate digging depth based on the soil removal rate and the current digging depth, and accordingly change the digging depth and inclination angle of the digging shovel to make the digging depth appropriate, thereby avoiding missing or damaging the fruits due to digging too shallowly, and avoiding digging too deep to cause large resistance and waste fuel.

[0028] (2) The liquid-driven intelligent control method for digging depth of the present invention can be automatically controlled based on real-time digging depth data and real-time soil removal rate data, so that the digging depth of the digging shovel is appropriate and can adapt to different peanut varieties and the depth changes of peanut roots. Compared with manually setting the target digging depth, the present invention can better adapt to changes in working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a top view of the peanut harvester;

[0030] Figure 2 This is a cross-sectional structural diagram of a peanut harvester;

[0031] Figure 3 This is a structural diagram of the detection component.

[0032] In the figure: 1-tractor; 11-multi-way valve; 2-frame; 3-seedling pressing roller; 4-digging shovel; 5-conveying and lifting mechanism; 51-chain rod assembly; 51a-chain; 51b-rod; 52-driving wheel assembly; 53-driven wheel assembly; 54-vibrating wheel mechanism; 55-weight detection mechanism; 55a-sprocket; 55b-central shaft; 55c-pressure sensor; 6-seedling turning and laying mechanism; 61-seedling turning disc assembly; 62-laying rod; 7-lifting and adjusting cylinder; 8-detection assembly; 81-connecting rod; 82-spring; 83-linear potentiometer; 84-bearing seat; 9-proportional solenoid valve; 91-first hydraulic motor; 92-second hydraulic motor; 93-first solenoid valve; 94-second solenoid valve. DETAILED DESCRIPTION

[0033] The present invention will be further described below with reference to the accompanying drawings.

[0034] like Figure 1 and Figure 2As shown, the peanut harvester includes a tractor 1, a frame 2, and a rice seedling pressing roller 3, a digging shovel 4, a conveying and lifting mechanism 5, and a rice seedling turning and laying mechanism 6 arranged from front to back on the frame 2; a lifting and lowering adjustment cylinder 7 is connected between the tractor 1 and the frame 2; the conveying and lifting mechanism 5 includes an inclined chain rod assembly 51, a driving wheel assembly 52 and a driven wheel assembly 53 respectively arranged at the upper and lower ends of the chain rod assembly 51, and a vibration wheel mechanism 54 placed in the chain rod assembly 51; the chain rod assembly 51 is composed of two groups of chains 51a arranged in parallel on the left and right, and a rod 51b erected between the two groups of chains 51a; the rice seedling turning and laying mechanism 6 includes two groups of rice seedling turning disc assemblies 61 on the left and right, and also includes a plurality of laying rods 62 extending backward from each group of rice seedling turning disc assemblies 61.

[0035] The liquid driven digging depth intelligent control system includes two sets of detection components 8 connected to both ends of the rice seedling pressing roller 3; Figure 3 As shown, each set of the detection components 8 includes an elastic connection mechanism for establishing an elastic movable relationship between the end of the pressing roller 3 and the frame 2, and also includes a linear potentiometer 83 for obtaining distance data between the end of the pressing roller 3 and the frame 2;

[0036] The conveying and lifting mechanism 5 further includes two sets of weight detection mechanisms 55, one high and one low; each set of weight detection mechanisms 55 includes a sprocket 55a meshing with the left and right sets of chains 51a, a central shaft 55b connected to the sprocket 55a, and a pressure sensor 55c connected to the central shaft 55b;

[0037] The linear potentiometer 83 and the pressure sensor 55 c are connected to a controller, and the controller can control the extension and retraction of the lifting and adjusting cylinder 7 through the proportional solenoid valve 9 .

[0038] Preferably, the elastic connection mechanism includes a connecting rod 81 that can slide relative to the frame 2, and a spring 82 is strung on the connecting rod 81 to apply downward pressure to the end of the pressing roller 3; the end of the pressing roller 3 is connected to the connecting rod 81 through a bearing seat 84.

[0039] Preferably, the lifting and lowering adjustment cylinder 7 is connected to the multi-way valve 11 of the tractor 1 through the proportional solenoid valve 9 .

[0040] During operation, the seedling pressing roller 3 rolls on the crop ridge to press the seedlings, causing the seedlings to fall forward to facilitate digging by the digging shovel 4 and to facilitate the subsequent seedling turning and laying mechanism 6 to turn the seedlings so that the peanuts are laid upwards. The elastic connection mechanism can make the pressure exerted by the seedling pressing roller 3 on the peanut seedlings reasonable to avoid excessive pressure.

[0041] In the present invention, the weight detection mechanism 55 can estimate the weight of the peanut crop before and after soil removal based on the pressure applied by the chain 51a, and calculate the soil removal rate accordingly. The elastic connection mechanism composed of the connecting rod 81 and the spring 82 can perform contour movement on the ground. The extension and contraction amount of the linear potentiometer 83 can reflect the digging depth of the excavating shovel 4. The controller can determine the appropriate digging depth based on the soil removal rate and the current digging depth, and change the digging depth and inclination angle of the excavating shovel 4 accordingly to make the digging depth appropriate, avoid missing or damaging the fruit due to digging too shallowly, and avoid digging too deep to cause large resistance and waste fuel.

[0042] Preferably, the driving wheel assembly 52 and the rice seedling turning and spreading mechanism 6 are driven by a first hydraulic motor 91 and a second hydraulic motor 92, respectively; the controller controls the hydraulic oil flow corresponding to the first hydraulic motor 91 and the second hydraulic motor 92 via a first solenoid valve 93 and a second solenoid valve 94, respectively. The left and right rice seedling turning disc assemblies 61 are each connected to a corresponding second hydraulic motor 92, and the two second hydraulic motors 92 are arranged in series. In addition, to facilitate the controller in obtaining the rotational speeds of the first hydraulic motor 91 and the second hydraulic motor 92, speed measuring mechanisms for both are provided.

[0043] The method for intelligently controlling the hydraulically driven excavation depth of the peanut harvester based on the above-mentioned intelligently controlled hydraulically driven excavation depth control system includes the following steps S101-S104:

[0044] Step S101, calculating the excavation depth data based on the data collected by the linear potentiometer 83 and the extension and contraction amount of the lifting and adjusting cylinder 7;

[0045] Step S102, calculating the real-time soil removal rate of the peanut crop based on the data collected by the two groups of weight detection mechanisms 55;

[0046] Step S103, judging whether the excavation depth data meets the requirements based on the real-time soil removal rate and the benchmark soil removal rate;

[0047] Step S104 : When the excavation depth does not meet the requirement, the lifting and adjusting cylinder 7 is controlled to extend and retract to adjust the excavation depth of the excavating shovel 4 .

[0048] Specifically, the soil removal rate is estimated as follows: First weight data T1 collected by the lower-position weight detection mechanism 55 at time t is collected. This first weight data T1 is calculated as the average of the data from the left and right pressure sensors 55c corresponding to the lower-position weight detection mechanism 55. Second weight data T2 collected by the upper-position weight detection mechanism 55 at time t+‌Δt is collected. This second weight data T2 is calculated as the average of the data from the left and right pressure sensors 55c corresponding to the upper-position weight detection mechanism 55. The value of Δt is determined based on the conveyor line speed of the chain 51a and represents the time required for the excavated crops to move from the lower-position weight detection mechanism 55 to the upper-position weight detection mechanism 55. The soil removal rate is calculated using the following formula: (T1-T2) / T1×100%.

[0049] The benchmark soil removal rate is derived from experiments. Peanut plants, laden with a suitable amount of soil, are placed on the chain assembly 51. After the soil is shaken and sieved, the benchmark soil removal rate is calculated based on weight data collected by the high and low weight detection mechanisms 55. In practice, multiple sets of experiments can be conducted to obtain multiple soil removal rate data sets, and the average value can be used to determine the benchmark soil removal rate.

[0050] Preferably, the step S103 of determining whether the excavation depth data meets the requirements based on the real-time soil removal rate and the benchmark soil removal rate includes:

[0051] A reasonable soil removal rate range is obtained based on the benchmark soil removal rate, and it is determined whether the real-time soil removal rate is within the reasonable soil removal rate range. If so, it indicates that the excavation depth meets the requirement; otherwise, it indicates that the excavation depth does not meet the requirement.

[0052] Preferably, the step S104 described above of controlling the extension and retraction of the lifting and adjusting cylinder 7 to adjust the digging depth of the digging shovel 4 includes:

[0053] When the real-time soil removal rate is greater than the maximum value of the reasonable soil removal rate range, it indicates that the excavation depth is too deep and excessive soil has been excavated, and the telescopic rod of the lifting and adjusting cylinder 7 is controlled to retract inward;

[0054] When the real-time soil removal rate is less than the minimum value of the reasonable soil removal rate range, it indicates that the excavation depth is too shallow, which may damage the crop roots and cause the peanuts to remain in the soil. The telescopic rod of the lifting and adjusting cylinder 7 is controlled to extend outward.

[0055] The liquid-driven intelligent control method for digging depth of the present invention can automatically control based on real-time digging depth data and real-time soil removal rate data, so that the digging depth of the digging shovel 4 is appropriate and can adapt to different peanut varieties and changes in the depth of peanut roots. Compared with manually setting the target digging depth, the present invention can better adapt to changes in working conditions.

[0056] Preferably, the conveying speed of the chain assembly 51 and the paving speed of the turning and spreading mechanism 6 are adjusted based on the forward speed of the tractor 1. Specifically, the rotational speeds of the first hydraulic motor 91 and the second hydraulic motor 92 are adjusted respectively by the first solenoid valve 93 and the second solenoid valve 94 to adjust the conveying speed of the chain assembly 51 and the paving speed of the turning and spreading mechanism 6. Specifically, the adjustment can be performed according to a preset speed ratio. Preferably, the first speed ratio between the conveying speed and the forward speed of the chain assembly 51 ranges from 0.8 to 1.2, and the paving speed of the turning and spreading mechanism 6 is greater than or equal to the conveying speed of the chain assembly 51. Since the diameter of the turning disc assembly 61 of the turning and spreading mechanism 6 is twice the diameter of the driving sprocket that drives the chain assembly 51, the second speed ratio between the second hydraulic motor 92 and the first hydraulic motor 91 ranges from 0.5 to 0.7.

[0057] Preferably, the number of peanut plants on the chain assembly 51 can also be estimated based on the data collected by the weight detection mechanism 55; according to the estimated number of plants, the speed of the first hydraulic motor 91 and the second hydraulic motor 92 are adjusted respectively by the first solenoid valve 93 and the second solenoid valve 94. When the estimated number of plants N is greater than the preset threshold value N max When the estimated number of plants N is less than the preset threshold value N, the speed of the first hydraulic motor 91 and the second hydraulic motor 92 is increased to speed up the transportation and rice seedling turning operation. min When the number of plants is too high, the speed of the first hydraulic motor 91 and the second hydraulic motor 92 is reduced. By estimating the number of plants based on the data from the weight detection mechanism 55 and adjusting the speed of the hydraulic motors accordingly, the system can dynamically adapt to changes in crop density during the harvest process, ensuring the optimal operating efficiency of the conveying and lifting mechanism 5 and the rice-turning and spreading mechanism 6, and avoiding blockage caused by too many plants or idling due to too few plants and wasting energy.

[0058] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A hydraulically driven digging depth intelligent control system for a peanut harvester, the peanut harvester comprising a tractor (1), a frame (2), and a seedling pressing roller (3), a digging shovel (4), a conveying and lifting mechanism (5), and a seedling turning and laying mechanism (6) arranged from front to back on the frame (2); a lifting and lowering adjustment oil cylinder (7) is connected between the tractor (1) and the frame (2); the conveying and lifting mechanism (5) comprises a chain rod assembly (51) arranged in an inclined manner, a driving wheel assembly (52) and a driven wheel assembly (53) respectively arranged at the upper and lower ends of the chain rod assembly (51), and a vibrating wheel mechanism (54) arranged in the chain rod assembly (51); the chain rod assembly (51) is composed of two groups of chains (51a) arranged in parallel on the left and right, and a rod (51b) arranged between the two groups of chains (51a); the characteristics are: The liquid-driven excavation depth intelligent control system comprises two sets of detection components (8) connected to both ends of the rice-pressing roller (3); each set of the detection components (8) comprises an elastic connection mechanism for establishing an elastically movable relationship between the end of the rice-pressing roller (3) and the frame (2), and also comprises a linear potentiometer (83) for obtaining distance data between the end of the rice-pressing roller (3) and the frame (2); The conveying and lifting mechanism (5) further comprises two sets of weight detection mechanisms (55), one high and one low; each set of the weight detection mechanisms (55) comprises a sprocket (55a) meshed with the left and right sets of chains (51a), a central shaft (55b) connected to the sprocket (55a), and a pressure sensor (55c) connected to the central shaft (55b); The linear potentiometer (83) and the pressure sensor (55c) are connected to a controller, and the controller can control the extension and retraction of the lifting and regulating oil cylinder (7) through a proportional solenoid valve (9).

2. The hydraulic driven digging depth intelligent control system for peanut harvesters according to claim 1 is characterized in that: The elastic connection mechanism comprises a connecting rod (81) capable of sliding relative to the frame (2), and a spring (82) is sleeved on the connecting rod (81) for applying downward pressure to the end of the rice-pressing roller (3); the end of the rice-pressing roller (3) is connected to the connecting rod (81) via a bearing seat (84).

3. The hydraulic driven digging depth intelligent control system for peanut harvester according to claim 1 is characterized in that: The lifting and lowering regulating oil cylinder (7) is connected to the multi-way valve (11) of the tractor (1) via the proportional solenoid valve (9).

4. The hydraulic driven digging depth intelligent control system for peanut harvesters according to claim 1 is characterized in that: The driving wheel assembly (52) and the rice seedling turning and laying mechanism (6) are driven by a first hydraulic motor (91) and a second hydraulic motor (92), respectively; the controller controls the hydraulic oil flow corresponding to the first hydraulic motor (91) and the second hydraulic motor (92) through a first solenoid valve (93) and a second solenoid valve (94), respectively.

5. The method for intelligently controlling the hydraulically driven excavation depth of a peanut harvester based on the hydraulically driven excavation depth intelligent control system of claim 1 is characterized in that: Methods include: Calculating excavation depth data based on data collected by the linear potentiometer (83) and the extension and contraction amount of the lifting and adjusting oil cylinder (7); Calculating the real-time soil removal rate of the peanut crop based on the data collected by the two groups of weight detection mechanisms (55); Based on the real-time soil removal rate and the benchmark soil removal rate, determining whether the excavation depth data meets the requirements; When the excavation depth does not meet the requirement, the lifting and lowering adjustment cylinder (7) is controlled to extend and retract to adjust the excavation depth of the excavating shovel (4).

6. The liquid drive excavation depth intelligent control method according to claim 5 is characterized in that: The determining whether the excavation depth data meets the requirements based on the real-time soil removal rate and the benchmark soil removal rate includes: A reasonable soil removal rate range is obtained based on the benchmark soil removal rate, and it is determined whether the real-time soil removal rate is within the reasonable soil removal rate range. If so, it indicates that the excavation depth meets the requirement; otherwise, it indicates that the excavation depth does not meet the requirement.

7. The method for intelligently controlling the depth of liquid drive excavation according to claim 5, characterized in that: The control of the lifting and adjusting oil cylinder (7) to extend and retract to adjust the digging depth of the digging shovel (4) includes: When the real-time soil removal rate is greater than the maximum value of the reasonable soil removal rate range, the telescopic rod of the lifting and adjusting oil cylinder (7) is controlled to extend outward; When the real-time soil removal rate is less than the minimum value of the reasonable soil removal rate range, the telescopic rod of the lifting and adjusting oil cylinder (7) is controlled to retract inward.

8. The method for intelligently controlling the depth of liquid drive excavation according to claim 5, characterized in that: Based on the forward speed of the tractor (1), the conveying speed of the chain rod assembly (51) and the laying speed of the rice seedling turning and laying mechanism (6) are adjusted.

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